JPH02133275A - Sucker running device and using method thereof in internal surface of pipe - Google Patents

Abstract

PURPOSE:To enable work safety to be attained in closed and high parts running even in tilting and vertical pipes by placing a device so as to be supported in five points in a bottom part by one streak of endless track belt while in an upper part by four guide wheels pressed by a pressing cylinder, when the device is in running in the pipe of intermediate and small bore. CONSTITUTION:A running device is mounted to be placed in a pipe P, when compressed air is fed even to a pressing cylinder 33 extended to the upper, the running device holds its position by an endless track belt 24 and four upper guide wheels 35.... Now when compressed air is fed to a vacuum generating device 28, the endless track belt 24 is sucked to a running surface by a generated vacuum, holding the position. While in the time of moving the position, a front part roller is driven when a running motor 25 is turned on, simultaneously the endless crawler belt 24 is rotated advancing the running device. While in the case of a curved surface part in its running in the running direction, even when a sucker part is partly dislocated from a wall surface, a running device total unit is prevented from being dislocated from the wall surface by pressing force of the guide wheel 35, and when the device passes through the curved surface part, the endless crawler belt in all its grounded surface comes into contact with the wall surface, stabilizing the sucker part.

Description

[Detailed Description of the Invention] (Field of Industrial Application) The present invention is used for dangerous work at high places and closed spaces such as inspection and cleaning of the inner surface of pipes such as dam discharge pipes, buried pipes, chimneys, and vertical containers. This invention relates to an adsorption traveling device on the inner surface of a pipe and a method of using the same.

C. Prior Art) Conventionally, there is a wheel system as a traveling device on the inner surface of a pipe. The wheels press against the wall and drive the vehicle while transmitting driving force to the wall. This method poses no particular problem when running on a horizontal pipe or on a gently sloped pipe, but when running on a sloped pipe with a large slope or on a vertical pipe, there is a problem in that the wheels slip between the walls and the machine cannot run.

(Problems to be Solved by the Invention) In view of the above-mentioned problems of the prior art, an attempt is made to provide a traveling device that can travel on inclined pipes and vertical pipes and can safely perform work in open spaces and at high places. It is something to do.

(Means for Solving the Problems by the Invention) A front roller and a rear roller are attached to both the front and rear ends of the machine frame and are driven by a travel motor, and a roller is wound around between the front and rear rollers and is fixed on the running surface side. It is guided by an endless crawler track with a vacuum recess recessed at a pitch and connected to a vacuum generator on the machine frame, and a support rod set upright on the machine frame, and is moved up and down by a pressing cylinder installed on the machine frame. It is characterized in that it consists of a guide wheel axle which can be supported and has guide wheels at both ends that can roll on the inner surface of the tube.

In addition, in the suction traveling device, guide wheel axles are provided at the front and rear of the machine frame, respectively, to improve stability.

Alternatively, two endless crawlers were installed on the left and right sides in the direction of travel to cope with the case of large diameter pipes.

Furthermore, pipe inspection means or cleaning means were mounted on the machine frame to enable various operations to be carried out.

In addition, the suction traveling device is equipped with only one wheel axle at the upper center of the machine frame, and a plurality of the machine frames of this suction traveling device can be connected in the front and rear, thereby facilitating cleaning inside the meandering pipe.

Furthermore, a plurality of the suction traveling devices are connected to perform inspection work.
It is now possible to carry out cleaning work or other work at the same time while driving.

(Example) Since the present invention is a development of the invention related to a wall suction type self-propelled device previously disclosed by the present applicant (see Japanese Patent Application Laid-Open No. 61-46778), the present invention will first be described in Fig. 5. This will be explained with reference to FIG.

In Figures 5 and 6, 1 is an S-rectangular machine frame, 2,
Reference numeral 2 designates front rollers that are coaxially supported on the left and right sides of the front end of the machine frame 1, and rear rollers 3 and 3 are supported on the same axis on the left and right rear ends of the machine frame 1, respectively.

4.4 is an endless crawler track consisting of a pair of left and right rubber endless belts that are wrapped around the front roller 2 and rear roller 3 on the left side and the front roller 2 and rear roller 3 on the right side with appropriate tension, respectively; On the outer surface of each endless crawler track 4, rectangular vacuum recesses 5 of appropriate depth are provided at constant intervals over the entire length, and each vacuum recess 5 is provided with a through hole 6 that communicates the inner and outer surfaces.

A front motor 8 attached to the front end of the machine frame 1 is a chain 7 for transmitting the power of the front motor 7 to the roller shaft 9 of the left front roller 2 through a sprocket;
11 is a chain for transmitting the power of the rear motor 10 to the roller shaft 12 of the right rear roller 3 through a sprocket, and 13° and 13 are respectively attached to the rear end of the machine frame 1. A pair of left and right support members 13 are attached to the left and right lower portions of the endless crawler belt 4 and extend vertically in close contact with the inner surface of the endless crawler belt 4. Each support member 13 is supported with some flexibility, and the endless crawler belt 4 A plurality of rectangular communication chambers 14 covering adjacent through holes 6, 6 are provided at appropriate intervals over the entire length. Each communication chamber 14 is provided with a through hole 15 that communicates between the upper and lower surfaces.

Reference numeral 17 denotes a compressed air sodder pipe provided along the longitudinal center line of the machine frame 1. Its rear end is connected to an external compressed air source via a hose (not shown), and its front end is closed.

Reference numeral 18 denotes a plurality of air ejectors arranged symmetrically on the right and left sides of the header pipe 17 in the machine frame 1, activated by compressed air branched from the header pipe 17, and sucking air through the air suction hole 19. 18 is a support member 13
The same number of communication chambers 14 are provided.

A hose 2o connects the air suction hole 19 of each air ejector 18 to the through hole 15 of the corresponding communication chamber 14 of the support member 13.

In such a device, when compressed air is supplied to the yatsuda pipe 17 via a hose, a plurality of air ejectors 18
is driven. Then, the communication chamber 1 of each support member 13
4 is sucked by the air ejector 18 through the through hole 15, the hose 20, and the air suction hole 19, so each communication chamber 14 becomes a vacuum, so the vacuum recess 5 of the endless crawler track 4
The air inside is also sucked through the through holes 6, and as a result, the recessed portions of the left and right endless crawlers 4, 4 act as suction cups to strongly suction the entire book mount to the wall surface.

Also, since the front and rear motors 7 and 10 rotate in the same direction, the front roller 2 and rear roller 3 rotate through the chains 8 and 11, and the pair of left and right endless tracks 4 and 4 move cyclically. It travels along the wall, and the left and right endless tracks are each driven by front and rear motors, so the motors can be remotely controlled to control direction such as turning left or right, controlling running speed, etc.
It is possible to move forward and backward.

The plurality of grooves of the endless crawler are always in communication with the plurality of communication chambers of the support member, and each communication chamber of each support member is provided with an independent air ejector, so that only a part of the groove of the endless crawler is connected to the plurality of communication chambers of the support member. Even if the vacuum is broken, the adsorption force from the vacuum of the remaining glue will cover it, so even if the wall surface is uneven, it will not fall, and it will be possible to run along vertical walls and ceiling walls.

The present invention using the traveling device described above will be described below with reference to FIGS. 1 to 4.

In the figure, 21 is a machine frame, and 22 and 23 are a front roller and a rear roller that are rotatably attached to the front and rear of the machine frame 21.

Reference numeral 24 denotes an endless crawler belt suspended between the front roller and the rear roller, and vacuum recesses are provided at regular intervals on the outer surface of the crawler belt. A through hole is provided in the center of this vacuum recess, which communicates with a vacuum generator to be described later.

The endless crawler belt 24 in FIG. 1 is based on the same principle as the endless crawler belt 4 in the above-described suction traveling device. However, since the traveling device runs horizontally or vertically on a plane, it is provided with a pair of left and right endless crawlers. If the tube diameter is large in this suction running device, please use one on each side.
A pair of endless crawlers is used, but if the pipe diameter is small, a single endless crawler is used as shown in FIG. Furthermore, if the pipes are undulating up and down in the running direction, the meandering can be easily accommodated by connecting two or more pipes in series using connecting pins 42 as shown in FIG. Furthermore, when the diameter of the tube is small, the adhesion force can be increased by making the contact surface of the endless crawler curved to match the inner surface of the tube.

Reference numeral 25 is a running motor that immediately moves a roller shaft 27 via a chain 26. Reference numeral 28 denotes a vacuum generator, and the vacuum generated by this 1 acts on the vacuum recess 5 (FIG. 6) of the endless crawler belt 24, and an adsorption action occurs between it and the wall surface.

Reference numeral 29 denotes a support frame horizontally installed at the front and rear ends of the machine frame 21 via brackets 30, on which the traveling motor 25 is mounted.
is installed. An upper support frame 32 is further provided horizontally on the support frame 29 with support columns 31 interposed therebetween. At the center of the upper part of the upper support frame 32, a guide wheel shaft 34 that can move up and down is pressed upward by a pressing cylinder 33 with an appropriate force. Guide wheels 35, 35 are attached to both ends of the guide wheel shaft 34 symmetrically. The guide wheel 35 is a pipe P
Since it is in contact with the inner surface of the , it has a truncated conical shape and is elastic. Reference numeral 36 denotes a support rod for the guide wheel shaft 34, which is provided at a symmetrical position with respect to the cylinder 33. Support rod 3
6, the guide wheel axle 34 is slidably fitted therein.

37 is an on-board controller mounted on the upper support frame 32. 38 is a television camera equipped with a lighting device 38a;
9 is a film thickness measuring device. These pipe inspection means or cleaning means shall be installed as appropriate. 40 is a power cable connected to a motor etc., and 41 is an air hose leading to a vacuum generator.

In the above embodiments, the endless crawler track has a vacuum recess connected to a vacuum generator, which is a so-called vacuum attraction type, but for example, a magnetic attraction type endless crawler track equipped with magnets at regular intervals may be used. is also possible.

However, it goes without saying that the magnetic type is limited to metals such as iron plates.

With such a configuration, if the traveling device is inserted into the pipe P as shown in the figure, and compressed air is also sent to the pressing cylinder 33 to distribute it upward, the traveling device will connect the endless crawler track 24 and the four upper guides. The position is firmly held by the wheels 35... Therefore, when compressed air is sent to the vacuum generator 28,
The generated vacuum attracts the endless crawler belt 24 to the running surface and maintains its position.

Further, when moving the vehicle from one position to another, by turning on the traveling motor 25, the front rollers are driven, and at the same time, the endless crawler belt 24 is rotated, allowing the traveling device to move forward.

Further, when traveling on a curved surface in the traveling direction, even if a part of the suction part comes off the wall surface, the pressing force of the guide wheels 35 prevents the entire traveling device from coming off the wall surface.

Once it passes the curved surface, all the landing surfaces of the endless crawler track will come into contact with the wall surface, and all the suction parts will be stabilized. When passing through a curved surface, the guide wheel 35 is pressed against the wall surface by the pressing cylinder 33, etc., so the guide wheel @35 follows the wall surface according to the curvature of the curved surface, and stable running is possible.

In the case of a pipe that is undulating up and down in the running direction, a type in which a plurality of short endless crawler vehicles are connected together as shown in Fig. 4 allows for more stable suction running. In this case, if one machine is equipped with an inspection means, another with a cleaning means, and another machine with other working means, all the work can be done in one run. It can be carried out.

(Effects) When traveling in small and medium diameter pipes, there is only one endless crawler track at the bottom, but four guide wheels are pressed by a pressing cylinder at the top, providing a total of five points of support at the top and bottom, allowing extremely stable travel. It is. Furthermore, inside the large-diameter pipe, stable running is possible using endless crawler vehicles with double rows on the left and right sides.

Even if the inner running surface of the endless crawler track is curved in the running direction and the endless crawler does not touch only part of it, stable running is possible because the upper guide wheel is stretched.

Furthermore, even when running on a steeply sloped pipe or even a vertical pipe, extremely stable running is possible for the above-mentioned reasons.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of a traveling device according to the present invention. Figure 2 is also a side view. Figure 3 is also a front view. FIG. 4 is a side view of another embodiment in which suction traveling devices are connected in series. FIG. 5 is a plan view of the previous invention. FIG. 6 is a sectional view taken along line VI-VI in FIG. In the figure: 1 machine frame 2 front roller 3 rear roller 4 endless crawler 5 vacuum recess 6 through hole 7 front motor 8 chain 9 roller shaft 10 rear motor chain support member through hole air ejector hose front roller endless crawler chain vacuum generation Equipment Bracket Upper Support Frame Guide Wheel Axle Support Rod TV Camera Film Thickness Measuring Instrument Air Hose

Claims (1)

[Claims] 1) A front roller and a rear roller that are attached to both the front and rear ends of the machine frame and driven by a travel motor, and a roller that is wound around between the front and rear rollers and that is fixed on the running surface side. It is guided by an endless crawler track with a vacuum recess recessed at a pitch and connected to a vacuum generator on the machine frame, and a support rod set upright on the machine frame, and is moved up and down by a pressing cylinder installed on the machine frame. What is claimed is: 1. A suction traveling device on the inner surface of a tube, characterized in that it comprises a guide wheel shaft that is supported on the inner surface of the tube and has guide wheels at both ends that are capable of rolling on the inner surface of the tube. 2) The suction traveling device for the inner surface of a pipe according to claim 1, characterized in that guide wheel axles are provided in pairs at the front and rear of the machine frame. 3) The suction traveling device on the inner surface of a pipe according to claim 1, characterized in that the endless crawler belt is installed in two rows on the left and right sides in the traveling direction. 4) The adsorption traveling device on the inner surface of a pipe according to claim 1), claim 2), or claim 3), characterized in that a pipe interior inspection means, cleaning means, or other means is mounted on the machine frame. 5) Only one wheel axle is attached to the upper center of the machine frame of the suction traveling device according to claim 1), 2), 3) or 4), and the machine frame of the suction traveling device can be connected in the front and rear. The suction traveling device on the inner surface of a pipe according to claims 1) to 4). 6) A plurality of suction traveling devices according to claims 1), 2), 3), 4), or 5) are connected to each other to perform inspection work, cleaning work, or other work simultaneously while traveling. How to use the suction traveling device.